US8937410B2 - Emergency stop method and system for autonomous mobile robots - Google Patents

Emergency stop method and system for autonomous mobile robots Download PDF

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Publication number
US8937410B2
US8937410B2 US13/351,743 US201213351743A US8937410B2 US 8937410 B2 US8937410 B2 US 8937410B2 US 201213351743 A US201213351743 A US 201213351743A US 8937410 B2 US8937410 B2 US 8937410B2
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Prior art keywords
robot
operation mode
base unit
mode position
emergency stop
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US13/351,743
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US20130181544A1 (en
Inventor
Todd Comins
Larry Gray
Joseph L. Jones
Clara Vu
Charles M. Grinnell
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Harvest Automation Inc
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Harvest Automation Inc
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Priority to US13/351,743 priority Critical patent/US8937410B2/en
Assigned to HARVEST AUTOMATION, INC. reassignment HARVEST AUTOMATION, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GRINNELL, CHARLES M., GRAY, LARRY, COMINS, TODD, JONES, JOSEPH L., VU, CLARA
Priority to PCT/US2012/067939 priority patent/WO2013109349A1/en
Priority to EP12865720.2A priority patent/EP2804722A4/en
Publication of US20130181544A1 publication Critical patent/US20130181544A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

Definitions

  • the present application relates generally to autonomous mobile robots and, more particularly, to an emergency stop system for such robots.
  • an emergency stop system for an autonomous mobile robot.
  • the system includes a base unit connected to the robot and an element engageable by a user extending from the base unit.
  • the element is movably held by the base unit in an operation mode position.
  • the base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved out of the operation mode position by the user.
  • a method of causing an autonomous mobile robot to stop operating includes a base unit and an element engageable by a user extending from the base unit.
  • the element is movably held by the base unit in an operation mode position.
  • the base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved by the user out of the operation mode position.
  • the method comprises engaging the element to move it out of the operation mode position to trigger an emergency stop.
  • a method of causing an autonomous mobile robot to stop operating includes a base unit and an element engageable by a user extending from the base unit.
  • the element is movably held by the base unit in an operation mode position.
  • the method includes the steps of: detecting movement of the element from the operation mode position; and triggering an emergency stop of the robot when the element is moved by the user out of the operation mode position.
  • FIG. 1 is a simplified perspective view of an exemplary autonomous mobile robot having an emergency stop system in accordance with one or more embodiments.
  • FIG. 2 is a simplified perspective view of an exemplary emergency stop system in accordance with one or more embodiments.
  • FIG. 3 is a block diagram illustrating connectivity of an exemplary emergency stop system in a robot in accordance with one or more embodiments.
  • FIG. 4 is an exemplary system logic chart illustrating operation of an exemplary emergency stop system in accordance with one or more embodiments.
  • FIG. 5 illustrates an alternative exemplary emergency stop system in accordance with one or more embodiments.
  • FIG. 6 illustrates an alternative exemplary emergency stop system in accordance with one or more embodiments.
  • FIG. 7 illustrates an alternative exemplary emergency stop system in accordance with one or more embodiments.
  • Autonomous mobile robots are used in a variety of industries, including in the agricultural industry.
  • one particular use of autonomous robots is for performing automated potted plant processing operations.
  • robots can be used to identify, pick up, transport, and deposit container-holding plants as disclosed in co-pending U.S. patent application Ser. No. 12/378,612 filed on Feb. 18, 2009 and entitled ADAPTABLE CONTAINER HANDLING SYSTEM and U.S. patent application Ser. No. 13/100,763 filed on May 4, 2011 and entitled ADAPTABLE CONTAINER HANDLING ROBOT WITH BOUNDARY SENSING SUBSYSTEM.
  • autonomous mobile robots can include an emergency stop system to instantly stop operation of a robot if, e.g., the robot malfunctions or otherwise operates in a way that creates a potentially hazardous condition.
  • An emergency stop feature can be implemented as a latched push button. When this button is pressed by a human user, power is removed from any robot systems (e.g., motors used to drive the robot wheels or other mechanisms). Once the stop button has been pressed, the button must be physically reset before the robot can resume normal operation.
  • This type of emergency stop system works well for fixed equipment.
  • using a push button stop feature may be problematic for computer-controlled, mobile equipment.
  • a software fault or other fault can produce an arbitrary response in such equipment. For example, if a certain sort of fault occurs on a differential-drive mobile robot, the robot could enter a state where one drive wheel is halted while the other turns at maximum velocity. This and other conditions can make it difficult for a user to reach the stop button without being struck by the robot.
  • Various embodiments disclosed herein are directed to an emergency stop system for autonomous mobile robots that can be quickly and easily actuated by users.
  • the emergency stop system can be implemented in virtually any type of autonomous mobile robots, including robots used in the agricultural industry.
  • FIG. 1 illustrates an exemplary autonomous mobile robot 10 having an emergency stop system 12 in accordance with one or more embodiments.
  • the robot 10 is configured to transport a container-grown plant 14 .
  • the emergency stop system 12 includes a base unit 16 connected to the robot 10 and a flag or other element 18 engageable by a human user extending from and held by the base unit 16 .
  • the flag 18 rests in a receptacle 30 (shown in FIG. 2 ) in the base unit 16 in an operation mode position.
  • the human user simply grabs and pulls the flag 18 or knocks it out of the operation mode position in the base unit 16 .
  • a sensor mechanism 28 shown in FIG.
  • the base unit 16 detects movement of the flag 18 from the operation mode position and responsively triggers an emergency stop of the robot 10 . It is considerably easier and safer for a user to grasp or knock down the flag 18 than to locate and press a button on the robot 10 .
  • the flag 18 includes a mast 20 and a pennant 22 , which allows motion of the robot 10 to be easily observed from a distance.
  • Autonomous mobile robots are typically supervised by a human worker who may oversee a number of robots operating on different fields. As the robots carry out their duties, their motion will cause the pennant 22 to sway back and forth. This motion makes it easy for the human worker to determine from a distance whether and how each robot is working.
  • the flag 18 further includes a knob 24 to eliminate the sharp point at the top of the mast 20 to prevent injury to users.
  • a variety of different sensor mechanisms 28 can be used in the base unit 16 to detect the presence of the flag 18 in the operating mode position.
  • the tip of the flag 18 held by the base unit 16 includes a magnet 26 at the lower tip of the mast 20 (as shown in FIG. 2 ), and mechanism 28 includes a Hall-effect sensor for detecting the presence of the magnet 26 .
  • the sensor mechanism 28 can include an optical break beam sensor for detecting the presence of the flag 18 in the operation mode position.
  • the sensor mechanism 28 may also comprise an electrical circuit, in which the tip of the flag 18 acts as a switch in the circuit such that movement of the flag 18 from the operation mode position breaks a connection in the circuit.
  • FIG. 3 is a block diagram illustrating connectivity of the emergency stop system 12 in a robot 10 .
  • the robot 10 includes a power source (e.g., a battery system) 32 that supplies power to one or more motors 34 through a power relay 36 .
  • the base unit sensor mechanism 28 and the start button 38 are connected to and transmit control signals to the relay 36 .
  • the power relay 36 is preferably implemented in solid-state electronics. Alternatively, the power relay can comprise a mechanical device.
  • FIG. 4 illustrates exemplary emergency stop system logic in accordance with one or more embodiments. If the flag 18 is removed from the base unit 16 during normal operation of the robot 10 , power to the robot motors is interrupted. Power cannot be restored until (1) the flag 18 is first returned to the base unit 16 and (2) the start button 38 is then pressed.
  • the exemplary stop system functionality is implemented generally entirely in hardware.
  • the flag 18 should be easily removable from the base unit 16 by a user.
  • the receptacle 30 of the base unit 16 is configured to provide compliance to make it easy for a user to remove the flag 18 .
  • the flag mast may bind if the pull-direction (i.e., the direction the flag is pulled by a user) is not vertical.
  • compliance can be provided by attaching the base unit receptacle 30 to a spring 42 . If the flag 18 is pulled a direction other than completely vertical, the receptacle will become oriented in the direction of the sideward force, allowing the flag 18 to be removed easily.
  • the base unit receptacle 30 can be configured to have a radiused cross-section as shown in FIG. 6 .
  • the radiused cross-section geometry transforms sideward-pull forces into axial forces to facilitate easy removal of the flag 18 .
  • easy flag removal can be accomplished using a flag mast having a broad flat flag base 44 as shown in FIG. 7 .
  • the flag base 44 is retained in a recessed area 46 in the base unit 16 that is shallow and allows easy removal of the flag.
  • the recessed area 46 in the base unit 16 is sized to receive the flag base 44 .
  • the flag base 44 includes a magnet 48 .
  • a layer of ferrous material 50 to which the magnet 48 in the flag base 44 is attracted, is provided at the bottom of the recessed area 46 .
  • a Hall-effect or other magnetic field sensor 52 is provided under the recessed area 46 . In this position, the sensor 52 can determine when the flag 18 is present.

Abstract

An emergency stop system for an autonomous mobile robot includes a base unit connected to the robot and an element engageable by a user extending from the base unit. The element is movably held by the base unit in an operation mode position. The base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved out of the operation mode position by the user.

Description

BACKGROUND
The present application relates generally to autonomous mobile robots and, more particularly, to an emergency stop system for such robots.
BRIEF SUMMARY OF THE DISCLOSURE
In accordance with one or more embodiments, an emergency stop system is provided for an autonomous mobile robot. The system includes a base unit connected to the robot and an element engageable by a user extending from the base unit. The element is movably held by the base unit in an operation mode position. The base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved out of the operation mode position by the user.
In accordance with one or more further embodiments, a method of causing an autonomous mobile robot to stop operating is provided. The robot includes a base unit and an element engageable by a user extending from the base unit. The element is movably held by the base unit in an operation mode position. The base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved by the user out of the operation mode position. The method comprises engaging the element to move it out of the operation mode position to trigger an emergency stop.
In accordance with one or more further embodiments, a method of causing an autonomous mobile robot to stop operating is provided. The robot includes a base unit and an element engageable by a user extending from the base unit. The element is movably held by the base unit in an operation mode position. The method includes the steps of: detecting movement of the element from the operation mode position; and triggering an emergency stop of the robot when the element is moved by the user out of the operation mode position.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a simplified perspective view of an exemplary autonomous mobile robot having an emergency stop system in accordance with one or more embodiments.
FIG. 2 is a simplified perspective view of an exemplary emergency stop system in accordance with one or more embodiments.
FIG. 3 is a block diagram illustrating connectivity of an exemplary emergency stop system in a robot in accordance with one or more embodiments.
FIG. 4 is an exemplary system logic chart illustrating operation of an exemplary emergency stop system in accordance with one or more embodiments.
FIG. 5 illustrates an alternative exemplary emergency stop system in accordance with one or more embodiments.
FIG. 6 illustrates an alternative exemplary emergency stop system in accordance with one or more embodiments.
FIG. 7 illustrates an alternative exemplary emergency stop system in accordance with one or more embodiments.
Like or identical reference numbers are used to identify common or similar elements.
DETAILED DESCRIPTION
Autonomous mobile robots are used in a variety of industries, including in the agricultural industry. For example, one particular use of autonomous robots is for performing automated potted plant processing operations. Specifically, robots can be used to identify, pick up, transport, and deposit container-holding plants as disclosed in co-pending U.S. patent application Ser. No. 12/378,612 filed on Feb. 18, 2009 and entitled ADAPTABLE CONTAINER HANDLING SYSTEM and U.S. patent application Ser. No. 13/100,763 filed on May 4, 2011 and entitled ADAPTABLE CONTAINER HANDLING ROBOT WITH BOUNDARY SENSING SUBSYSTEM.
As a safety feature, autonomous mobile robots can include an emergency stop system to instantly stop operation of a robot if, e.g., the robot malfunctions or otherwise operates in a way that creates a potentially hazardous condition. An emergency stop feature can be implemented as a latched push button. When this button is pressed by a human user, power is removed from any robot systems (e.g., motors used to drive the robot wheels or other mechanisms). Once the stop button has been pressed, the button must be physically reset before the robot can resume normal operation.
This type of emergency stop system works well for fixed equipment. However, using a push button stop feature may be problematic for computer-controlled, mobile equipment. A software fault or other fault can produce an arbitrary response in such equipment. For example, if a certain sort of fault occurs on a differential-drive mobile robot, the robot could enter a state where one drive wheel is halted while the other turns at maximum velocity. This and other conditions can make it difficult for a user to reach the stop button without being struck by the robot.
Various embodiments disclosed herein are directed to an emergency stop system for autonomous mobile robots that can be quickly and easily actuated by users. The emergency stop system can be implemented in virtually any type of autonomous mobile robots, including robots used in the agricultural industry.
FIG. 1 illustrates an exemplary autonomous mobile robot 10 having an emergency stop system 12 in accordance with one or more embodiments. In this example, the robot 10 is configured to transport a container-grown plant 14. The emergency stop system 12 includes a base unit 16 connected to the robot 10 and a flag or other element 18 engageable by a human user extending from and held by the base unit 16. During normal robot operation, the flag 18 rests in a receptacle 30 (shown in FIG. 2) in the base unit 16 in an operation mode position. However, if the robot 10 malfunctions or otherwise needs to be stopped quickly, the human user simply grabs and pulls the flag 18 or knocks it out of the operation mode position in the base unit 16. A sensor mechanism 28 (shown in FIG. 3) in the base unit 16 detects movement of the flag 18 from the operation mode position and responsively triggers an emergency stop of the robot 10. It is considerably easier and safer for a user to grasp or knock down the flag 18 than to locate and press a button on the robot 10.
As shown in FIG. 2, the flag 18 includes a mast 20 and a pennant 22, which allows motion of the robot 10 to be easily observed from a distance. Autonomous mobile robots are typically supervised by a human worker who may oversee a number of robots operating on different fields. As the robots carry out their duties, their motion will cause the pennant 22 to sway back and forth. This motion makes it easy for the human worker to determine from a distance whether and how each robot is working.
The flag 18 further includes a knob 24 to eliminate the sharp point at the top of the mast 20 to prevent injury to users.
A variety of different sensor mechanisms 28 can be used in the base unit 16 to detect the presence of the flag 18 in the operating mode position. By way of example, the tip of the flag 18 held by the base unit 16 includes a magnet 26 at the lower tip of the mast 20 (as shown in FIG. 2), and mechanism 28 includes a Hall-effect sensor for detecting the presence of the magnet 26.
Alternately, the sensor mechanism 28 can include an optical break beam sensor for detecting the presence of the flag 18 in the operation mode position.
The sensor mechanism 28 may also comprise an electrical circuit, in which the tip of the flag 18 acts as a switch in the circuit such that movement of the flag 18 from the operation mode position breaks a connection in the circuit.
FIG. 3 is a block diagram illustrating connectivity of the emergency stop system 12 in a robot 10. The robot 10 includes a power source (e.g., a battery system) 32 that supplies power to one or more motors 34 through a power relay 36. The base unit sensor mechanism 28 and the start button 38 are connected to and transmit control signals to the relay 36. The power relay 36 is preferably implemented in solid-state electronics. Alternatively, the power relay can comprise a mechanical device.
FIG. 4 illustrates exemplary emergency stop system logic in accordance with one or more embodiments. If the flag 18 is removed from the base unit 16 during normal operation of the robot 10, power to the robot motors is interrupted. Power cannot be restored until (1) the flag 18 is first returned to the base unit 16 and (2) the start button 38 is then pressed.
In accordance with one or more embodiments, the exemplary stop system functionality is implemented generally entirely in hardware.
The flag 18 should be easily removable from the base unit 16 by a user. In accordance with one or more embodiments, if the flag mast is rigid, the receptacle 30 of the base unit 16 is configured to provide compliance to make it easy for a user to remove the flag 18. Without compliance in the base unit 16, the flag mast may bind if the pull-direction (i.e., the direction the flag is pulled by a user) is not vertical. As shown in FIG. 5, compliance can be provided by attaching the base unit receptacle 30 to a spring 42. If the flag 18 is pulled a direction other than completely vertical, the receptacle will become oriented in the direction of the sideward force, allowing the flag 18 to be removed easily.
Alternately, in accordance with one or more further embodiments, if the flag mast is compliant, rather than rigid, the base unit receptacle 30 can be configured to have a radiused cross-section as shown in FIG. 6. The radiused cross-section geometry transforms sideward-pull forces into axial forces to facilitate easy removal of the flag 18.
In a further alternate embodiment, easy flag removal can be accomplished using a flag mast having a broad flat flag base 44 as shown in FIG. 7. The flag base 44 is retained in a recessed area 46 in the base unit 16 that is shallow and allows easy removal of the flag. The recessed area 46 in the base unit 16 is sized to receive the flag base 44. The flag base 44 includes a magnet 48. A layer of ferrous material 50, to which the magnet 48 in the flag base 44 is attracted, is provided at the bottom of the recessed area 46. A Hall-effect or other magnetic field sensor 52 is provided under the recessed area 46. In this position, the sensor 52 can determine when the flag 18 is present.
Having thus described several illustrative embodiments, it is to be appreciated that various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to form a part of this disclosure, and are intended to be within the spirit and scope of this disclosure. While some examples presented herein involve specific combinations of functions or structural elements, it should be understood that those functions and elements may be combined in other ways according to the present disclosure to accomplish the same or different objectives. In particular, acts, elements, and features discussed in connection with one embodiment are not intended to be excluded from similar or other roles in other embodiments. Additionally, elements and components described herein may be further divided into additional components or joined together to form fewer components for performing the same functions.
Accordingly, the foregoing description and attached drawings are by way of example only, and are not intended to be limiting.

Claims (25)

What is claimed is:
1. A computer-controlled autonomous mobile robot, comprising:
a chassis;
a drive subsystem for maneuvering the chassis including one or more motors;
a power source;
a power relay for relaying power from the power source to the one or more motors; and
an emergency stop system to trigger an emergency stop of the autonomous mobile robot by causing the power relay to interrupt power flow to the one or more motors, said emergency stop system comprising:
a base unit connected to the robot; and
an element engageable by a user extending from the base unit, the element being movably held by the base unit in an operation mode position,
wherein the base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved out of the operation mode position by the user.
2. The computer-controlled autonomous mobile robot of claim 1, wherein the element comprises an elongated member extending from a portion of the robot.
3. The computer-controlled autonomous mobile robot of claim 2, further comprising a pennant at an end of the elongated member distal to the base unit.
4. The computer-controlled autonomous mobile robot of claim 2, further comprising a rounded knob at an end of the elongated member distal to the base unit.
5. The computer-controlled autonomous mobile robot of claim 1, wherein the element includes a magnet in a portion thereof held by the base unit, and wherein the mechanism includes a Hall-effect sensor for detecting the presence of the element in the operation mode position.
6. The computer-controlled autonomous mobile robot of claim 1, wherein the mechanism comprises an optical break beam sensor for detecting the presence of the element in the operation mode position.
7. The computer-controlled autonomous mobile robot of claim 1, wherein the mechanism includes an electrical circuit, and the element includes electrical contacts comprising a portion of the circuit such that movement of the element from the operation mode position breaks a connection in the circuit to trigger an emergency stop.
8. The computer-controlled autonomous mobile robot of claim 1, wherein the mechanism includes a mechanical switch, and movement of the element from the operation mode position activates the mechanical switch.
9. The computer-controlled autonomous mobile robot of claim 1, wherein the robot further comprises a start switch engageable by a user to continue robot operation once an element moved out of the operation mode position has been returned to the operation mode position.
10. The computer-controlled autonomous mobile robot of claim 1, wherein a portion of the base unit holding the element is compliant to facilitate easy removal of the element from the base unit by the user.
11. The computer-controlled autonomous mobile robot of claim 10, wherein the portion of the base unit comprises a spring.
12. The computer-controlled autonomous mobile robot of claim 1, wherein the portion of the base unit holding the element includes a radiused opening to facilitate easy removal of the element from the base unit by the user.
13. The computer-controlled autonomous mobile robot of claim 1, wherein the element includes a generally flat base, and wherein the base unit includes a shallow recessed area for holding the generally flat base to facilitate easy removal of the element from the base unit by the user.
14. A method of supervising operation of a plurality of computer-controlled mobile robots autonomously performing operations in a given area, each of the robots including an emergency stop system comprising a base unit and an element engageable by a user extending from the base unit, the element being movably held by the base unit in an operation mode position, wherein the base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved by the user out of the operation mode position, the method comprising:
observing the operation of the plurality of robots from a remote location;
identifying a malfunctioning robot among said plurality of robots;
approaching said malfunctioning robot from said remote location; and
engaging the element of the emergency stop system of said malfunctioning robot to move it out of the operation mode position to trigger an emergency stop of the malfunctioning robot.
15. The method of claim 14, wherein engaging the element comprises grasping the element and pulling it out of the base.
16. The method of claim 14, wherein engaging the element comprises knocking the element out of the operation mode position.
17. The method of claim 14, further comprising returning the element to the operation mode position and activating a start switch to restart the robot.
18. The method of claim 14, wherein the element comprises an elongated member extending from a portion of the robot.
19. The method of claim 18, wherein the elongated member includes a pennant at an end thereof distal to the robot.
20. A method performed by an autonomous mobile robot, the robot including an emergency stop system comprising a base unit and an element engageable by a user extending from the base unit, the element being movably held by the base unit in an operation mode position, the method comprising the steps of:
autonomously performing a given operation in a given area;
detecting movement of the element from the operation mode position when the element is moved by the user; and
triggering an emergency stop of the robot when movement of the element out of the operation mode position is detected.
21. The method of claim 20, wherein triggering an emergency stop of the robot comprises causing a power relay to interrupt power flow to the one or more motors of the robot.
22. The method of claim 20, wherein the element includes a magnet in a portion thereof held by the base unit, and wherein detecting movement of the element from the operation mode position comprises using a Hall-effect sensor for detecting the presence of the element in the operation mode position.
23. The method of claim 20, wherein detecting movement of the element from the operation mode position comprises using an optical break beam sensor for detecting the presence of the element in the operation mode position.
24. The method of claim 20, wherein the mechanism includes an electrical circuit, and the element includes electrical contacts comprising a portion of the circuit such that movement of the element from the operation mode position breaks a connection in the circuit to trigger an emergency stop.
25. The method of claim 20, wherein the mechanism includes a mechanical switch, and movement of the element from the operation mode position activates the mechanical switch.
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